Ratcheting for master alignment of a teleoperated minimally-invasive surgical instrument

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United States of America Patent

PATENT NO 11672619
APP PUB NO 20210077210A1
SERIAL NO

17107862

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ATTORNEY / AGENT: (SPONSORED)

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Abstract

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A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to align the master grip with a slave instrument commanded by the master grip by determining grip rotation values describing an orientation of the master grip, determining instrument rotation values describing an orientation of the instrument, determining an orientation error between an orientation of the master grip and the orientation of the instrument based on the grip rotation values and the instrument rotation values, and reducing the orientation error by low pass filtering the grip rotation values or the instrument rotation values.

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Patent Owner(s)

  • INTUITIVE SURGICAL OPERATIONS, INC.

International Classification(s)

Inventor(s)

Inventor Name Address # of filed Patents Total Citations
DiMaio, Simon P San Carlos, US 110 3974
Itkowitz, Brandon D Sunnyvale, US 141 4200
Mintz, David S Mountain View, US 74 9917
Niemeyer, Gunter D Pasadena, US 84 28198
Nowlin, William C Los Altos, US 95 26849

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